EP1203927A2 - Method and device for detecting the position of a vehicle wheel in a reference system linked to the vehicle - Google Patents

Method and device for detecting the position of a vehicle wheel in a reference system linked to the vehicle Download PDF

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Publication number
EP1203927A2
EP1203927A2 EP01125802A EP01125802A EP1203927A2 EP 1203927 A2 EP1203927 A2 EP 1203927A2 EP 01125802 A EP01125802 A EP 01125802A EP 01125802 A EP01125802 A EP 01125802A EP 1203927 A2 EP1203927 A2 EP 1203927A2
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EP
European Patent Office
Prior art keywords
vehicle
axis
vehicle wheel
wheel
detection elements
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP01125802A
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German (de)
French (fr)
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EP1203927A3 (en
EP1203927B1 (en
Inventor
Bernhard Schick
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Tuev Automotive Unternehmensgruppe Tuev Sued GmbH
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Tuev Automotive Unternehmensgruppe Tuev Sueddeutschland GmbH
Tuev Automotive Unternehm GmbH
Tuev Automotive Unternehmensgruppe Tuev Sueddeutschland GmbH
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Publication of EP1203927A2 publication Critical patent/EP1203927A2/en
Publication of EP1203927A3 publication Critical patent/EP1203927A3/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means

Definitions

  • the invention relates to a method and a device for detecting the position of a vehicle wheel in a reference system fixed to the vehicle.
  • a common measuring device is a so-called autocollimator with the track and Camber angle can be detected dynamically while driving.
  • Such an autocollimator contains a mirror rigidly attached to the vehicle wheel, its reflected Light is also captured by an optical system that is connected to the system Vehicle connected frame is attached. Both the size and that Weight of such measuring devices influence the driving behavior of the vehicle and do not allow precise metrological detection of the by the vehicle or. Changes in the wheel position due to external influences, like side forces etc.
  • the invention has for its object to a method and an apparatus create with the position or position of a in practical driving Vehicle wheel can be precisely detected in a reference system fixed to the vehicle can, without the vehicle being affected by the measurement technology.
  • the part of the object of the invention directed to the method has the features of claim 1 solved.
  • the positions of the two detection elements can as positions of picture elements according to usual picture evaluation methods (Point determination and tracking) can be determined. Evaluation methods can be used can be used, such as in developments to improve passive accident safety (crash research) are common.
  • the rigid geometric assignment between the Detection elements and the vehicle wheel allows the calculation directly the position of the vehicle wheel in the reference system fixed to the vehicle, for example with respect to the Cartesian coordinates of the center of the wheel axis and the Solid angle of the wheel axis, d. H. in terms of the six degrees of freedom that the Clearly describe the position of the vehicle wheel.
  • the claim 2 characterizes the basic structure of the device for solving the relevant part of the invention task.
  • the invention can be used wherever the position of a vehicle wheel should be determined precisely in a reference system fixed to the vehicle, both when the vehicle is stationary and when the vehicle is moving.
  • a measuring body 4 is fastened to a vehicle wheel 2 in such a way that that it is aligned with the axis A-A about which the vehicle wheel 2 can be rotated.
  • the axis is also the axis of a steering knuckle 6 on which a wheel carrier 8 is rotatably mounted, on which in turn the vehicle wheel 2 is attached.
  • the steering knuckle 6 is formed on a link 10 which is on an axle beam or Frame part 12 of the vehicle is pivotally attached.
  • the measuring body 4 is dumbbell-shaped overall and has two balls 14, 16 which are rigidly connected to one another via a rod 18.
  • the rod 18 is over the ball 16 extended and on the rim of the wheel 2 or the wheel carrier 8th attached such that the measuring body 4 is aligned with the axis A-A.
  • the Attachment of the measuring body 4 to the wheel 2 or the advice carrier 8 can be done in a wide variety of ways In this way, for example, the measuring body 4 with arms be designed, which are fastened with the wheel bolts (not shown), that hold the wheel on the advice carrier 8.
  • the measuring body 4 can also be used in this way be designed so that it can be inserted into a central recess of the advice carrier 8 and can be fastened centered therein, for example by means of a thread.
  • a first camera 20 is rigidly attached to the vehicle body 19 such that their lens is located approximately perpendicularly between the balls 14 and 16, the field of view of the camera covering the entire area, within of which the measuring body 4 moves. In the event that the wheel 2 one steerable front wheel of the vehicle, the camera 20 is approximately vertical above the measuring body 4 when the front wheel is not turned.
  • Another camera 22 is in front of (or behind) the measuring body 4 in an axis A-A-containing levels are mounted in such a way that they are approximately in the middle of (or behind) the measuring body 4 is located.
  • the cameras 20 and 22 are electronic cameras (for example, CCD or CMOS), the photosensitive ones of which form the image surface Elements connected to a computer 28 via data lines 24, 26 are.
  • At least one input 30 of the computer is with a driving condition sensor 32, for example a speed sensor, steering angle sensor or similar connected.
  • Outputs 43 of the computer lead to peripheral devices, like displays, printers etc.
  • the balls 14, 16 are imaged as disks by each camera 20, 220, so that a precise determination of the center points through electronic image evaluation the discs is possible.
  • Figure 1 is a reference system fixed to the vehicle drawn in, the X-axis in the vehicle longitudinal direction, the Y-axis in the vehicle width direction and shows the Z axis in the vertical direction of the vehicle. Further the measuring body 4 with the two balls is indicated. How immediately understandable are the x with the help of the camera 20 and image evaluation in the computer 28 and y coordinates of the balls can be determined in a reference system fixed to the vehicle. Similarly, the y and z coordinates can be determined with the camera 22.
  • Out the three-dimensional coordinates of the two spheres and the fixed geometric Relationship between the measuring body 4 and the wheel 2 can be the three-dimensional Coordinates, for example, the center of the rim of wheel 2 and the Angles are calculated that form the axis A-A with the coordinate axes. It is thus possible, by evaluating the images of the two cameras 20, 220 in the computer 28 to determine the position that the wheel 2 is in the vehicle-fixed Coordinate system with respect to its six degrees of freedom.
  • the one given by the six degrees of freedom changes Position of the wheel 2 in the vehicle-fixed coordinate system accordingly the acting forces and possibly the steering angle continuously.
  • Image evaluation and point tracking methods such as those used in the Crash technology for tracking marking points on the vehicle are used, it is possible to find the coordinates of the center points of the evaluate and record both balls 14 and 16. It is helpful simultaneously record the output signals of at least one driving state sensor 32, thus changes in the position of the vehicle wheel with external influences are correlatable.
  • the measuring body 4 does not necessarily have to be formed with two balls; the Balls make it easier to evaluate the image in terms of identifying yours Center; however, the balls could also be designed as disks or as Ring grooves of the rod 18. It is essential that the measuring body 18 with two detection elements (in the example shown balls) is formed, which is shaped in this way are that the surface centers of their cut surfaces, cut in the Axis plane, regardless of the rotational position of the axis on the axis. This enables a precise determination of relevant coordinates of the measuring body.
  • the measuring body can be better detected by means of a not shown Be illuminable, advantageously with a wavelength range, for whom the cameras are particularly sensitive.
  • the computer 28 can acc. 3 are "decentralized", for example by providing a control unit 28 1 containing a computer for the cameras, which is connected to a measurement computer 28 2 and other components (not shown) via a bus system 36 (for example CAN or IEEE 1394). In this way, a central computer is relieved and the individual computers can be specifically adapted to their tasks.
  • the control unit 28 1 not only controls the cameras, but advantageously also the image evaluation, with time stamps being added to the data to enable later time or event-related evaluations.
  • the measuring computer takes driving parameters such as speed, Yaw rate, roll angle, etc. and evaluates them. This measurement data time stamps are also advantageously added.
  • an integrated overall system can be created that can be used flexibly.
  • the data can be digital or according to the corresponding conversion be made available analogously.
  • the image evaluation does not necessarily have to be done online, but can be done offline, known methods of three-dimensional image evaluation are used and can be used with low- or high-speed CAMs.
  • the Image evaluation can take place via buffering steps. Furthermore must electronic cameras are not mandatory; it can too Film cameras are used, the images of which are subsequently evaluated, however, this process is cumbersome and time consuming.
  • the cameras do not have to be arranged perpendicular to each other; important is, that their imaging directions are different, so from two two-dimensional Images three-dimensional coordinates can be generated.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

The wheel position detection method uses a measuring body (4) attached to the wheel (2), provided with a pair of detection elements (14,16) spaced from one another in the direction of the wheel rotation axis, cooperating with a position detection device (20,22) which is fixed relative to the vehicle. The position detection device provides images of the detection elements relative to two angled imaging surfaces which are analyzed for providing the wheel position. An Independent claim is also included for a device for detecting the position of an automobile wheel .

Description

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum Erfassen der Position eines Fahrzeugrades in einem fahrzeugfesten Bezugssystem.The invention relates to a method and a device for detecting the position of a vehicle wheel in a reference system fixed to the vehicle.

Die genaue messtechnische Erfassung von Veränderungen der Position der Fahrzeugräder innerhalb eines fahrzeugfesten Bezugssystem eines fahrenden Fahrzeugs ist eine wichtige Voraussetzung für die Entwicklung von Fahrzeugen mit sicherem und seine Lenker vor keine Probleme stellendem Fahrverhalten.The exact measurement of changes in the position of the vehicle wheels within a fixed reference frame of a moving vehicle is an important requirement for the development of vehicles with safe and his handlebars with no problem driving behavior.

Ein übliches Messgerät ist ein sogenannter Autokollimator, mit dem Spur -und Sturzwinkel dynamisch im Fahrbetrieb erfasst werden kann. Ein solcher Autokollimator enthält einen starr am Fahrzeugrad angebrachte Spiegel, dessen reflektiertes Licht von einem auch optisches System erfasst wird, das an einem mit dem Fahrzeug verbundenen Gestell angebracht ist. Sowohl die Größe als auch das Gewicht solcher Messgeräte beeinflussen das Fahrverhalten des Fahrzeugs und ermöglichen keine präzise messtechnische Erfassung der durch die Fahrzeug-bzw. Achskonstruktion bedingten Änderungen der Radstellung bei äußeren Einflüssen, wie Seitenkräften usw.A common measuring device is a so-called autocollimator with the track and Camber angle can be detected dynamically while driving. Such an autocollimator contains a mirror rigidly attached to the vehicle wheel, its reflected Light is also captured by an optical system that is connected to the system Vehicle connected frame is attached. Both the size and that Weight of such measuring devices influence the driving behavior of the vehicle and do not allow precise metrological detection of the by the vehicle or. Changes in the wheel position due to external influences, like side forces etc.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung zu schaffen, mit der im praktischen Fahrbetrieb die Stellung bzw. Position eines Fahrzeugrades in einem fahrzeugfesten Bezugssystem präzise erfasst werden kann, ohne dass das Fahrzeug verhalten durch die Messtechnik beeinflusst wird.The invention has for its object to a method and an apparatus create with the position or position of a in practical driving Vehicle wheel can be precisely detected in a reference system fixed to the vehicle can, without the vehicle being affected by the measurement technology.

Der auf das Verfahren gerichtete Teil der Erfindungsaufgabe wird mit den Merkmalen des Anspruchs 1 gelöst.The part of the object of the invention directed to the method has the features of claim 1 solved.

Bei dem erfindungsgemäßen Verfahren können die Positionen der beiden Erfassungselemte als Positionen von Bildelementen nach üblichen Bildauswertverfahren (Punktermittlung und -verfolgung) bestimmt werden. Dabei können Auswertverfahren verwendet werden, wie sie beispielsweise in Entwicklungen zur Verbesserung der passiven Unfallsicherheit (Crashforschung) üblich sind. Dadurch, dass die Position der Erfassungselemente in zwei unterschiedlichen Ebenen erfasst wird, ist eine dreidimensionale Bestimmung ihrer Position in einem fahrzeugfesten Bezugssystem möglich. Die starre geometrischen Zuordnung zwischen den Erfassungselementen und dem Fahrzeugrad erlaubt unmittelbar die Berechnung der Position des Fahrzeugrades in dem fahrzeugfesten Bezugssystem, beispielsweise hinsichtlich der kartesischen Koordinaten der Mitte der Radachse und des Raumwinkels der Radachse, d. h. hinsichtlich der sechs Freiheitsgrade, die die Position des Fahrzeugrades eindeutig beschreiben.In the method according to the invention, the positions of the two detection elements can as positions of picture elements according to usual picture evaluation methods (Point determination and tracking) can be determined. Evaluation methods can be used can be used, such as in developments to improve passive accident safety (crash research) are common. Thereby, that the position of the detection elements is detected on two different levels is a three-dimensional determination of its position in a vehicle-fixed Reference system possible. The rigid geometric assignment between the Detection elements and the vehicle wheel allows the calculation directly the position of the vehicle wheel in the reference system fixed to the vehicle, for example with respect to the Cartesian coordinates of the center of the wheel axis and the Solid angle of the wheel axis, d. H. in terms of the six degrees of freedom that the Clearly describe the position of the vehicle wheel.

Der Anspruch 2 kennzeichnet den grundsätzlichen Aufbau der Vorrichtung zur Lösung des diesbezüglichen Teils der Erfindungsaufgabe.The claim 2 characterizes the basic structure of the device for solving the relevant part of the invention task.

Die Unteransprüche 3 bis 6 sind auf vorteilhafte Ausführungsformen und Weiterbildungen der erfindungsgemäßen Vorrichtung gerichtet.The sub-claims 3 to 6 are advantageous embodiments and further developments directed the device according to the invention.

Die Erfindung kann überall dort eingesetzt werden, wo die Position eines Fahrzeugrades in einem fahrzeugfesten Bezugssystem präzise ermittelt werden soll, sowohl bei stehendem Fahrzeug als auch bei fahrendem Fahrzeug.The invention can be used wherever the position of a vehicle wheel should be determined precisely in a reference system fixed to the vehicle, both when the vehicle is stationary and when the vehicle is moving.

Die Erfindung wird im folgenden anhand schematischer Zeichnungen beispielsweise und mit weiteren Einzelheiten erläutert.The invention is illustrated below with the aid of schematic drawings and explained in more detail.

Es stellen dar:

Fig. 1
eine perspektivische Ansicht schräg von oben eines Fahrzeugrades mit daran angebrachter Vorrichtung,
Fig. 2
eine schematische senkrechte Schnittansicht durch das Fahrzeugrad mit daran angebrachter Vorrichtung und ein Blockschaltbild weiterer Komponenten und
Fig. 3
ein gegenüber Fig. 2 abgeändertes Blockschaltbild.
They represent:
Fig. 1
2 shows a perspective view obliquely from above of a vehicle wheel with a device attached to it,
Fig. 2
is a schematic vertical sectional view through the vehicle wheel with attached device and a block diagram of other components and
Fig. 3
a modified from Fig. 2 block diagram.

Gemäß den Figuren ist an einem Fahrzeugrad 2 ein Messkörper 4 derart befestigt, dass er mit der Achse A-A fluchtet, um die das Fahrzeugrad 2 drehbar ist. Diese Achse ist gleichzeitig die Achse eines Achsschenkels 6, an dem ein Radträger 8 drehbar gelagert ist, an dem wiederum das Fahrzeugrad 2 befestigt ist. Der Achsschenkel 6 ist an einem Lenker 10 ausgebildet, der an einem Achsträger oder Rahmenteil 12 des Fahrzeugs schwenkbar angebracht ist.According to the figures, a measuring body 4 is fastened to a vehicle wheel 2 in such a way that that it is aligned with the axis A-A about which the vehicle wheel 2 can be rotated. This The axis is also the axis of a steering knuckle 6 on which a wheel carrier 8 is rotatably mounted, on which in turn the vehicle wheel 2 is attached. The steering knuckle 6 is formed on a link 10 which is on an axle beam or Frame part 12 of the vehicle is pivotally attached.

Der Messkörper 4 ist insgesamt hantelförmig und weist zwei Kugeln 14,16 auf, die über einen Stab 18 starr miteinander verbunden sind. Der Stab 18 ist über die Kugel 16 hinaus verlängert und an der Felge des Rades 2 oder dem Radträger 8 derart befestigt, dass der Messkörper 4 mit der Achse A-A ausgerichtet ist. Die Befestigung des Messkörpers 4 am Rad 2 oder dem Ratträger 8 kann in unterschiedlichster Weise erfolgen, beispielsweise kann der Messkörper 4 mit Armen ausgebildet sein, die mit den Radschrauben (nicht dar dargestellt) befestigt werden, die das Rad an dem Ratträger 8 halten. Der Messkörper 4 kann auch derart ausgebildet sein, dass er in eine zentrale Ausnehmung des Ratträger 8 einschiebbar und darin zentriert befestigbar ist, beispielsweise mittels eines Gewindes.The measuring body 4 is dumbbell-shaped overall and has two balls 14, 16 which are rigidly connected to one another via a rod 18. The rod 18 is over the ball 16 extended and on the rim of the wheel 2 or the wheel carrier 8th attached such that the measuring body 4 is aligned with the axis A-A. The Attachment of the measuring body 4 to the wheel 2 or the advice carrier 8 can be done in a wide variety of ways In this way, for example, the measuring body 4 with arms be designed, which are fastened with the wheel bolts (not shown), that hold the wheel on the advice carrier 8. The measuring body 4 can also be used in this way be designed so that it can be inserted into a central recess of the advice carrier 8 and can be fastened centered therein, for example by means of a thread.

An der Fahrzeugkarosserie 19 ist eine erste Kamera 20 derart starr befestigt, dass sich ihre Linse etwa senkrecht über der Mitte zwischen den Kugeln 14 und 16 befindet, wobei das Gesichtsfeld der Kamera den gesamten Bereich überdeckt, innerhalb dessen sich der Messkörper 4 bewegt. Für den Fall, dass das Rad 2 ein lenkbares Vorderrad des Fahrzeugs ist, befindet sich die Kamera 20 etwa senkrecht über dem Messkörper 4, wenn das Vorderrad nicht eingeschlagen ist.A first camera 20 is rigidly attached to the vehicle body 19 such that their lens is located approximately perpendicularly between the balls 14 and 16, the field of view of the camera covering the entire area, within of which the measuring body 4 moves. In the event that the wheel 2 one steerable front wheel of the vehicle, the camera 20 is approximately vertical above the measuring body 4 when the front wheel is not turned.

Eine weitere Kamera 22 ist vor (oder hinter) dem Messkörper 4 in einer die Achse A-A enthaltenden Ebenen derart montiert, dass sie sich etwa mittig vor (bzw. hinter) dem Messkörper 4 befindet. Die Kameras 20 und 22 sind elektronische Kameras (beispielsweise CCD oder CMOS ), deren die Bildfläche bildende, lichtempfindliche Elemente über Datenleitungen 24,26 mit einem Computer 28 verbunden sind. Wenigstens ein Eingang 30 des Computers ist mit einem Fahrzustandssensor 32, beispielsweise einen Geschwindigkeitssensor, Lenkwinkelsensor oder ähnlichem verbunden. Ausgänge 43 des Computers führen zu Peripheriegeräten, wie Displays, Druckern usw.Another camera 22 is in front of (or behind) the measuring body 4 in an axis A-A-containing levels are mounted in such a way that they are approximately in the middle of (or behind) the measuring body 4 is located. The cameras 20 and 22 are electronic cameras (for example, CCD or CMOS), the photosensitive ones of which form the image surface Elements connected to a computer 28 via data lines 24, 26 are. At least one input 30 of the computer is with a driving condition sensor 32, for example a speed sensor, steering angle sensor or similar connected. Outputs 43 of the computer lead to peripheral devices, like displays, printers etc.

Die Funktion der beschriebenen Vorrichtung ist wie folgt:The function of the device described is as follows:

Die Kugeln 14, 16 werden von jeder Kamera 20, 220 als Scheiben abgebildet, so-dass durch elektronische Bildauswertung eine genaue Bestimmung der Mittelpunkte der Scheiben möglich ist. In Figur 1 ist ein fahrzeugfestes Bezugssystem eingezeichnet, wobei die X-Achse in Fahrzeuglängsrichtung, die Y-Achse in Fahrzeugbreitenrichtung und die Z-Achse in Hochrichtung des Fahrzeugs zeigt. Weiter ist der Messkörper 4 mit den beiden Kugeln angedeutet. Wie unmittelbar verständlich, sind mit Hilfe der Kamera 20 und Bildauswertung im Computer 28 die x und y Koordinaten der Kugeln in einem fahrzeugfesten Bezugssystem bestimmbar. Ähnlich sind mit der Kamera 22 die y und z Koordinaten bestimmbar. Aus den dreidimensionalen Koordinaten der beiden Kugeln und der festen geometrischen Beziehung zwischen dem Messkörper 4 und dem Rad 2 können die dreidimensionalen Koordinaten beispielsweise der Mitte der Felge des Rades 2 und die Winkel berechnet werden, die die Achse A-A mit den Koordinatenachsen bildet. Somit ist es möglich, durch Auswertung der Bilder der beiden Kameras 20, 220 in dem Computer 28 die Position zu bestimmen, die das Rad 2 in dem fahrzeugfesten Koordinatensystem bezüglich seiner sechs Freiheitsgrade einnimmt.The balls 14, 16 are imaged as disks by each camera 20, 220, so that a precise determination of the center points through electronic image evaluation the discs is possible. In Figure 1 is a reference system fixed to the vehicle drawn in, the X-axis in the vehicle longitudinal direction, the Y-axis in the vehicle width direction and shows the Z axis in the vertical direction of the vehicle. Further the measuring body 4 with the two balls is indicated. How immediately understandable are the x with the help of the camera 20 and image evaluation in the computer 28 and y coordinates of the balls can be determined in a reference system fixed to the vehicle. Similarly, the y and z coordinates can be determined with the camera 22. Out the three-dimensional coordinates of the two spheres and the fixed geometric Relationship between the measuring body 4 and the wheel 2 can be the three-dimensional Coordinates, for example, the center of the rim of wheel 2 and the Angles are calculated that form the axis A-A with the coordinate axes. It is thus possible, by evaluating the images of the two cameras 20, 220 in the computer 28 to determine the position that the wheel 2 is in the vehicle-fixed Coordinate system with respect to its six degrees of freedom.

Bei fahrenden Fahrzeug verändert sich die durch die sechs Freiheitsgrade gegebene Position des Rades 2 im fahrzeugfesten Koordinatensystem entsprechend den wirkenden Kräften und ggfs. dem Lenkwinkel laufend. Durch Nutzung rascher Bildauswerte- und Punktverfolgungsverfahren, wie sie beispielsweise in der Crash-Technik zur Verfolgung von auf dem Fahrzeug aufgebrachten Markierungspunkten eingesetzt werden, ist es möglich, die Koordinaten der Mittelpunkte der beiden Kugeln 14 und 16 auszuwerten und aufzuzeichnen. Dabei ist es hilfreich, zeitgleich die Ausgangsignale wenigstens eines Fahrzustandssensors 32 aufzuzeichnen, damit Veränderungen der Position des Fahrzeugrades mit äußeren Einflüssen korrellierbar sind. When the vehicle is moving, the one given by the six degrees of freedom changes Position of the wheel 2 in the vehicle-fixed coordinate system accordingly the acting forces and possibly the steering angle continuously. By using faster Image evaluation and point tracking methods, such as those used in the Crash technology for tracking marking points on the vehicle are used, it is possible to find the coordinates of the center points of the evaluate and record both balls 14 and 16. It is helpful simultaneously record the output signals of at least one driving state sensor 32, thus changes in the position of the vehicle wheel with external influences are correlatable.

Mit dem beschriebenen System werden die Fahreigenschaften des Fahrzeugs praktisch nicht verändert, da die Masse des Messkörpers 4 gegenüber der des Rades 2 vernachlässigbar ist. Auch die Kameras 20 und 22 können kompakt und gewichtsgünstig ausgebildet sein, wobei deren Befestigung an der Karosserie 19 möglichst starr ist. Um etwaige Positionsveränderungen oder Schwingungen zu berücksichtigen, kann an der Fahrzeugkarosserie 18 zusätzlich eine in das Gesichtsfeld der Kameras einragende Markierung befestigt werden, deren Lage relativ zur Karosserie sich auch bei starken Beschleunigungen nicht verändert.With the described system, the driving characteristics of the vehicle practically not changed, since the mass of the measuring body 4 compared to that of Wheel 2 is negligible. Cameras 20 and 22 can also be compact and be of low weight, their attachment to the body 19 is as rigid as possible. To avoid any changes in position or vibrations can also take into account one on the vehicle body 18 in the field of view the marking protruding cameras are attached, their position relative to the body does not change even under strong accelerations.

Das beschriebene System kann auf vielfältige Weise ausgeführt und abgeändert werden:The described system can be implemented and modified in a variety of ways become:

Der Messkörper 4 muss nicht zwangsläufig mit zwei Kugeln ausgebildet sein ; die Kugeln erleichtern zwar die Bildauswertung bezüglich der Identifizierung ihres Mittelpunktes; die Kugeln könnten jedoch auch Scheiben ausgebildet sein oder als Ringnuten des Stabes 18. Wesentlich ist, dass der Messkörper 18 mit zwei Erfassungselementen (im dargestellten Beispiel Kugeln) ausgebildet ist, die derart geformt sind, dass die Flächenmittelpunkte ihrer Schnittflächen, geschnitten in der Achsebene, unabhängig von der Drehstellung der Achse auf der Achse liegen. Dies ermöglicht eine präzise Ermittlung relevanter Koordinaten des Messkörpers. Der Messkörper kann zur besseren Erfassbarkeit mittels einer nicht dargestellten Einrichtung beleuchtbar sein, vorteilhafterweise mit einem Wellenlängenbereich, für den die Kameras besonders empfindlich sind.The measuring body 4 does not necessarily have to be formed with two balls; the Balls make it easier to evaluate the image in terms of identifying yours Center; however, the balls could also be designed as disks or as Ring grooves of the rod 18. It is essential that the measuring body 18 with two detection elements (in the example shown balls) is formed, which is shaped in this way are that the surface centers of their cut surfaces, cut in the Axis plane, regardless of the rotational position of the axis on the axis. This enables a precise determination of relevant coordinates of the measuring body. The measuring body can be better detected by means of a not shown Be illuminable, advantageously with a wavelength range, for whom the cameras are particularly sensitive.

Der Rechner 28 kann gem. Fig. 3 "dezentralisiert" werden, indem beispielsweise eine einen Rechner enthaltende Steuereinheit 281 für die Kameras vorgesehen wird, die mit einem Messrechner 282 und weiteren, nicht dargestellten Komponenten über ein Bussystem 36 (z.B. CAN oder IEEE 1394) verbunden ist. Auf diese Weise wird ein Zentralrechner entlastet und können die einzelnen Rechner an ihre Aufgaben spezifisch angepasst werden. In der Steuereinheit 281 erfolgt nicht nur die Ansteuerung der Kameras, sondern vorteilhafterweise auch die Bildauswertung, wobei den Daten zur Ermöglichung späterer zeit- oder ereignisbezogener Auswertungen Zeitmarken zugefügt werden. The computer 28 can acc. 3 are "decentralized", for example by providing a control unit 28 1 containing a computer for the cameras, which is connected to a measurement computer 28 2 and other components (not shown) via a bus system 36 (for example CAN or IEEE 1394). In this way, a central computer is relieved and the individual computers can be specifically adapted to their tasks. The control unit 28 1 not only controls the cameras, but advantageously also the image evaluation, with time stamps being added to the data to enable later time or event-related evaluations.

Vorteilhaft ist, nicht den gesamten, von den Kameras aufgenommenen Bildbereich auszuwerten, sondern nur diejenigen bereiche, in denen sich die Kugeln befinden. Dadurch sind hohe Abtastfrequenzen von beispielsweise 400 Hz mit vertretbarem Rechneraufwand möglich.It is advantageous not to use the entire image area recorded by the cameras evaluate, but only those areas in which the balls are located. As a result, high sampling frequencies of, for example, 400 Hz are acceptable Computational effort possible.

Der Messrechner nimmt in an sich bekannter Weise Fahrparameter, wie Geschwindigkeit, Gierrate, Wankwinkel usw. auf und wertet sie aus. Diesen Messdaten werden vorteilhafterweise ebenfalls Zeitmarken zugefügt.The measuring computer takes driving parameters such as speed, Yaw rate, roll angle, etc. and evaluates them. This measurement data time stamps are also advantageously added.

Durch die Busverbindung kann ein integriertes Gesamtsystem geschaffen werden, das flexibel nutzbar ist.Through the bus connection, an integrated overall system can be created that can be used flexibly.

Je nach bedarf können die Daten digital oder nach entsprechender Wandlung analog zur Verfügung gestellt werden.Depending on requirements, the data can be digital or according to the corresponding conversion be made available analogously.

Die Bildauswertung muss nicht zwingend online erfolgen, sondern kann offline erfolgen, wobei bekannte Verfahren der dreidimensionalen Bildauswertung eingesetzt werden und mit Low- oder Highspeed CAMs gearbeitet werden kann. Die Bildauswertung kann über Zwischenspeicherschritte erfolgen. Desweiteren müssen nicht zwingend elektronische Kameras verwendet werden ; es können auch Filmkameras verwendet werden, deren Bilder anschließend ausgewertet werden, wobei dieses Verfahren allerdings umständlich und zeitraubend ist.The image evaluation does not necessarily have to be done online, but can be done offline, known methods of three-dimensional image evaluation are used and can be used with low- or high-speed CAMs. The Image evaluation can take place via buffering steps. Furthermore must electronic cameras are not mandatory; it can too Film cameras are used, the images of which are subsequently evaluated, however, this process is cumbersome and time consuming.

Die Kameras müssen nicht senkrecht zueinander angeordnet sein; wichtig ist, dass ihre Abbildungsrichtungen verschieden sind, damit aus zwei zweidimensionalen Bildern dreidimensionale Koordinaten erzeugt werden können. The cameras do not have to be arranged perpendicular to each other; important is, that their imaging directions are different, so from two two-dimensional Images three-dimensional coordinates can be generated.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

22
Fahrzeugradvehicle
44
Messkörpermeasuring body
66
Achsschenkeljournal
88th
Radträgerwheel carrier
1010
Lenkerhandlebars
1212
Rahmenteilframe part
1414
KugelBullet
1616
KugelBullet
1818
StabRod
1919
Karosseriebody
2020
Kameracamera
2222
Kameracamera
2424
Datenleitungdata line
2626
Datenleitungdata line
2828
Computercomputer
281 28 1
Steuergerätcontrol unit
282 28 2
Messrechnermeasuring computer
3030
Eingangentrance
3232
FahrzustandssensorDriving condition sensor
3434
Ausgangoutput
3636
Busbus

Claims (6)

Verfahren zum Erfassen der Position eines Fahrzeugrades in einem fahrzeugfesten Bezugssystem, enthaltend folgende Schritte: starres Befestigen eines Messkörpers (4) an dem Fahrzeugrad (2), welcher Messkörper zwei in Richtung der Drehachse (A-A) des Fahrzeugrades voneinander beabstandete Erfassungselemente (14,16) aufweist, die derart geformt sind, dass der Flächenschwerpunkt ihrer die Drehachse enthaltenden Schnittflächen auf der Drehachse liegt, Erfassen der Positionen der Erfassungselemente durch deren Abbildung auf zwei fahrzeugfeste, in vorbestimmter Weise relativ zum Fahrzeug festliegende und winkelig zueinander angeordnete Abbildungsflächen, Berechnen der Positionen der Erfassungselemente in einem fahrzeugfesten Bezugssystem aus deren Positionen auf den Abbildungsflächen und Berechnen der Position des Fahrzeugrades aus der konstanten geometrischen Beziehung zwischen den Erfassungselementen und dem Fahrzeugrad. Method for detecting the position of a vehicle wheel in a reference system fixed to the vehicle, comprising the following steps: Rigid attachment of a measuring body (4) to the vehicle wheel (2), which measuring body has two detection elements (14, 16) spaced apart from one another in the direction of the axis of rotation (AA) of the vehicle wheel, which are shaped such that the center of gravity of their cut surfaces containing the axis of rotation is on the axis of rotation Detecting the positions of the detection elements by imaging them on two imaging surfaces fixed to the vehicle, fixed in a predetermined manner relative to the vehicle and arranged at an angle to one another, Calculate the positions of the detection elements in a reference system fixed to the vehicle from their positions on the imaging surfaces and Calculate the position of the vehicle wheel from the constant geometric relationship between the sensing elements and the vehicle wheel. Vorrichtung zum Erfassen der Position eines Fahrzeugrades in einem fahrzeugfesten Bezugssystem, enthaltend einen starr an dem Fahrzeugrad (2) befestigten Messkörper (4) mit zwei in Richtung der Drehachse des Fahrzeugrades voneinander beabstandeten Erfassungselementen (14, 16), die derart geformt sind, dass die Flächenschwerpunkte ihrer die Drehachse enthaltenden Schnittflächen auf der Drehachse liegen, eine Positionserfassungseinrichtung (20, 22), die die Erfassungselemente auf zwei fahrzeugfeste, in vorbestimmter Weise relativ zum Fahrzeug festliegende und winkelig zueinander angeordneter Abbildungsflächen abbildet, und eine Berechnungseinrichtung (28), die aus den Positionen der Erfassungselemente auf den Abbildungsflächen und der konstanten geometrischen Beziehung zwischen den Erfassungselementen und dem Fahrzeugrad dessen Position in dem fahrzeugfesten Bezugssystem berechnet. Containing device for detecting the position of a vehicle wheel in a reference system fixed to the vehicle a measuring body (4) rigidly attached to the vehicle wheel (2) with two detection elements (14, 16) spaced apart from one another in the direction of the axis of rotation of the vehicle wheel, which are shaped such that the centroids of their cut surfaces containing the axis of rotation lie on the axis of rotation, a position detection device (20, 22) which images the detection elements on two vehicle-mounted imaging surfaces which are fixed in a predetermined manner relative to the vehicle and arranged at an angle to one another, and a calculation device (28) which calculates its position in the reference frame fixed to the vehicle from the positions of the detection elements on the imaging surfaces and the constant geometric relationship between the detection elements and the vehicle wheel. Vorrichtung nach Anspruch 2, wobei der Messkörper (4) als Erfassungselemente zwei voneinander beabstandete Kugeln (14, 18) enthält. Apparatus according to claim 2, wherein the measuring body (4) as detection elements contains two spaced balls (14, 18). Vorrichtung nach Anspruch 2 oder 3, wobei die Positionserfassungseinrichtung durch zwei starr am Fahrzeug angebrachte elektronische Kameras (20, 22) gebildet ist, die den Messkörper aus unterschiedlichen Richtungen erfassen.Apparatus according to claim 2 or 3, wherein the position detection device by two electronic cameras (20, 22) is formed, which detect the measuring body from different directions. Vorrichtung nach Anspruch 4, wobei die eine Kamera (20) etwa senkrecht über der Drehachse (A-A) des Fahrzeugrades (2) und die andere Kamera (22) in einer die Drehachse enthaltenden, etwa waagerechten Ebene angebracht ist.Apparatus according to claim 4, wherein the one camera (20) approximately perpendicular over the axis of rotation (A-A) of the vehicle wheel (2) and the other camera (22) in an approximately horizontal plane containing the axis of rotation is attached. Vorrichtung nach einem der Ansprüche 4 oder 5, wobei die Berechnungseinrichtung ein mit den elektronischen Kameras verbundener Computer (28) ist, der einen mit wenigstens einem Fahrzustandssensor (32) verbundenen Eingang (30) aufweist.Device according to one of claims 4 or 5, wherein the calculation means is a computer (28) connected to the electronic cameras, the one input connected to at least one driving state sensor (32) (30).
EP01125802A 2000-11-02 2001-10-29 Method and device for detecting the position of a vehicle wheel in a reference system linked to the vehicle Expired - Lifetime EP1203927B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10054189A DE10054189C2 (en) 2000-11-02 2000-11-02 Method and device for detecting the position of a vehicle wheel in a reference system fixed to the vehicle
DE10054189 2000-11-02

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EP1203927A2 true EP1203927A2 (en) 2002-05-08
EP1203927A3 EP1203927A3 (en) 2003-10-08
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AT (1) ATE273503T1 (en)
DE (2) DE10054189C2 (en)
ES (1) ES2221877T3 (en)

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DE10332817B3 (en) * 2003-07-18 2005-02-10 Aykan, Ismail Aydin, Dipl.-Ing. Method and vehicle test bench for dynamic driving simulation

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DE4212426C1 (en) * 1992-04-14 1993-07-01 Wolfgang 3407 Gleichen De Brunk Measurement of tracking and camber of vehicle wheel axles - recording markers on rotating wheels using synchronised video cameras, image evaluation of marker positions
DE4419584A1 (en) * 1994-06-03 1995-12-07 Daimler Benz Aerospace Ag Dynamic contactless angle determination for rotating bodies, e.g. tracking-toe angle of motor vehicle wheel
US5724743A (en) * 1992-09-04 1998-03-10 Snap-On Technologies, Inc. Method and apparatus for determining the alignment of motor vehicle wheels
US6134792A (en) * 1998-11-19 2000-10-24 Hunter Engineering Company Method and apparatus for determining wheel alignment optical target orientation parameters

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DE3432781A1 (en) * 1984-09-06 1986-03-13 Bayerische Motoren Werke AG, 8000 München Measuring device, in particular for determining the wheel positions of a motor vehicle in driving mode
DE19757760A1 (en) * 1997-12-23 1999-07-01 Bosch Gmbh Robert Device for determining the wheel and / or axle geometry of motor vehicles

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US4928175A (en) * 1986-04-11 1990-05-22 Henrik Haggren Method for the three-dimensional surveillance of the object space
DE4212426C1 (en) * 1992-04-14 1993-07-01 Wolfgang 3407 Gleichen De Brunk Measurement of tracking and camber of vehicle wheel axles - recording markers on rotating wheels using synchronised video cameras, image evaluation of marker positions
US5724743A (en) * 1992-09-04 1998-03-10 Snap-On Technologies, Inc. Method and apparatus for determining the alignment of motor vehicle wheels
DE4419584A1 (en) * 1994-06-03 1995-12-07 Daimler Benz Aerospace Ag Dynamic contactless angle determination for rotating bodies, e.g. tracking-toe angle of motor vehicle wheel
US6134792A (en) * 1998-11-19 2000-10-24 Hunter Engineering Company Method and apparatus for determining wheel alignment optical target orientation parameters

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Publication number Publication date
EP1203927A3 (en) 2003-10-08
ATE273503T1 (en) 2004-08-15
DE50103201D1 (en) 2004-09-16
DE10054189A1 (en) 2002-05-23
DE10054189C2 (en) 2003-08-07
EP1203927B1 (en) 2004-08-11
ES2221877T3 (en) 2005-01-16

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